Back to EveryPatent.com
| United States Patent |
5,600,087
|
|
Chace, Jr.
|
February 4, 1997
|
Field programmable expendable underwater vehicle
Abstract
An expendable underwater vehicle for use in training naval forces in
anti-submarine warfare in ocean waters is between about three to five feet
in length and about five inches in diameter, and it is field programmable.
The expendable underwater vehicle can be programmed in the field at the
location where the vehicle actually will be used as a training device. A
system for field programming the vehicle comprises a run geometry
generator and a portable interface module. The run geometry generator
downloads the operational parameters to the portable interface module, and
the portable interface module then downloads the operational parameters
into the vehicle. These operational parameters are stored in the vehicle
and then used by the vehicle during an in-water run.
| Inventors:
|
Chace, Jr.; Raymond A. (East Freetown, MA)
|
| Assignee:
|
Sippican, Inc. (Marion, MA)
|
| Appl. No.:
|
408559 |
| Filed:
|
March 21, 1995 |
| Current U.S. Class: |
114/20.1; 114/20.2 |
| Intern'l Class: |
F42B 019/36 |
| Field of Search: |
114/20.1,20.2,21.1,21.2
244/3.15
|
References Cited
U.S. Patent Documents
| 2938483 | May., 1960 | Mason.
| |
| 2975396 | Mar., 1961 | Mueller | 340/5.
|
| 3130384 | Apr., 1964 | Downs et al.
| |
| 3180295 | Apr., 1965 | Niederer | 114/20.
|
| 3609671 | Sep., 1971 | Webster et al. | 340/3.
|
| 3676802 | Jul., 1972 | Murphree et al. | 340/384.
|
| 3875552 | Apr., 1975 | Hogman et al.
| |
| 3921559 | Nov., 1975 | Wells, Sr. | 114/20.
|
| 4198703 | Apr., 1980 | Huisveld, Jr. et al. | 367/1.
|
| 4553718 | Nov., 1985 | Pinson | 244/3.
|
| 4560228 | Dec., 1985 | Bender.
| |
| 4632031 | Dec., 1986 | Jarrott et al.
| |
| 4660170 | Apr., 1987 | Hui et al.
| |
| 5048771 | Sep., 1991 | Siering | 244/3.
|
| 5096139 | Mar., 1992 | Feld et al. | 244/3.
|
| 5144587 | Sep., 1992 | Mason.
| |
| 5247894 | Sep., 1993 | Haisfield et al. | 114/20.
|
| 5319556 | Jun., 1994 | Bessacini | 89/1.
|
| 5458042 | Oct., 1995 | Cante | 89/1.
|
| 5487350 | Jan., 1996 | Chace, Jr. et al. | 114/330.
|
| 5490473 | Feb., 1996 | Chace, Jr. et al. | 114/330.
|
| Foreign Patent Documents |
| 0149778 | Jul., 1985 | EP.
| |
| 0432902A2 | Jun., 1991 | EP.
| |
| 2240690 | Feb., 1974 | DE.
| |
Other References
Revue Internationale De Defense, vol. 13, No. 3, 1980, Geneva, p. 424,
XP002003435 "La Cible Sous-Marine MK30 MOD 1".
Soldat und Technik, vol. 37, No. 5, May 1994, Frankfurt am Main, pp.
260-262, XP000452312 Kronke; "A Submarine Simulating Underwater Target
Apparatus".
|
Primary Examiner: Carone; Michael J.
Assistant Examiner: Wesson; Theresa M.
Attorney, Agent or Firm: Testa, Hurwitz & Thibeault, LLP
Claims
What is claimed is:
1. Apparatus for field programming a device used in training naval forces
in anti-submarine warfare in ocean water, comprising:
(A) an expendable underwater vehicle having a length of about three to five
feet and a diameter of about five inches, the vehicle including:
a nose at a front end of the vehicle,
a shroud at a rear end of the vehicle which includes a propeller,
elevators, and rudders,
an internal motor for driving the propeller,
actuators for controlling the elevators and the rudders,
an internal guidance and control subsystem for storing and using a first
set of operational parameters which dictate the operation of the vehicle
in the ocean water, the internal guidance and control subsystem
controlling the in-water operation of the vehicle by controlling the motor
and the actuators based on the first set of operational parameters,
a communications port coupled to the internal guidance and control
subsystem,
an internal signal processing subsystem for simulating a submarine by
generating signals representative of the submarine and causing
corresponding acoustic signals to be transmitted into the ocean water, and
an internal power source for powering the signal processing subsystem, the
guidance and control subsystem, the motor, and the actuators after launch
of the vehicle into the ocean water; and
(B) a portable interface module for coupling to the internal guidance and
control subsystem via the communications port in the field prior to launch
of the vehicle into the ocean water, the portable interface module being
carryable by a single person and comprising
a computer for storing and downloading to the internal guidance and control
subsystem a second set of operational parameters to replace the first set
of operational parameters, and
a power source for providing power to at least the internal guidance and
control subsystem of the vehicle to allow the internal guidance and
control subsystem to receive and store the second set of operational
parameters.
2. The apparatus of claim 1 further comprising a run geometry generator for
coupling to the portable interface module to download thereto the second
set of operational parameters.
3. The apparatus of claim 1 wherein the expendable underwater vehicle is
housed within a sonobuoy launch container prior to launch of the vehicle
into the ocean water, the sonobuoy launch container having a hole therein
which is aligned with the communications port of the vehicle to allow the
portable interface module to be coupled to the communications port through
the hole in the sonobuoy launch container.
4. The apparatus of claim 1 wherein the power source in the portable
interface module comprises a rechargeable power source.
5. The apparatus of claim 4 wherein the portable interface module has a
weight of about 10 pounds.
6. The apparatus of claim 5 wherein the portable interface module has a
size of about 0.5 cubic feet.
Description
FIELD OF THE INVENTION
This invention relates to expendable underwater vehicles, and more
particularly, field programmable expendable underwater vehicles.
BACKGROUND OF THE INVENTION
An expendable underwater vehicle, such as the Expendable Mobile ASW
(Anti-Submarine Warfare) Training Target (EMATT) which is available from
Sippican, Inc. of Marion, Mass., is used to train naval forces in the
detection, localization, tracking, and/or attack of a submarine in the
ocean (i.e., to train naval forces in anti-submarine warfare). After being
launched into the ocean, the expendable underwater vehicle "swims" a
pre-programmed underwater course at a relatively constant speed (e.g.,
between 8 and 9 knots) as it acoustically simulates a submarine. The naval
forces use acoustics to detect, localize, track, and/or attack the
simulated submarine. After a specified time, currently about three hours,
the internal batteries of the expendable underwater vehicle become
exhausted, and the vehicle drops to the bottom of the ocean.
The expendable underwater vehicle can be launched into the ocean from, for
example, either a surface ship or an aircraft. When launched by a surface
ship, the expendable underwater vehicle is dropped into the water, usually
from a short distance thereabove such that the impact is minimal and no
damage results. In an aircraft launch, the expendable underwater vehicle
cannot simply be dropped into the water because the impact with the water
typically will damage the vehicle. Additional hardware is used in an
aircraft launch to help the vehicle survive the impact with the water. The
additional hardware typically is referred to collectively as an air launch
assembly.
To air launch the expendable underwater vehicle, it is fitted with the air
launch assembly, and then the combination typically is packaged in a
sonobuoy launch container. The vehicle then can be launched from the
aircraft either by using a launching tube on the aircraft that accepts the
sonobuoy launch container and automatically upon command ejects the
vehicle from the container, or by manually removing the vehicle from the
sonobuoy launch container and dropping (launching) the unit through a
launching tube or other opening in the aircraft. After the vehicle is
launched from the aircraft, the air launch assembly deploys and
decelerates the vehicle such that the vehicle enters the water nose-first
and along its longitudinal axis.
SUMMARY OF THE INVENTION
The invention relates to an expendable underwater vehicle for use in
training naval forces in anti-submarine warfare in ocean waters. The
vehicle is between about three to five feet in length and about five
inches in diameter, and it is field programmable which makes it very
versatile and useful.
In accordance with the invention, a field programmable system is provided.
This system allows the expendable underwater vehicle to be programmed in
the field at the location where the vehicle actually will be used as a
training device. The system comprises a portable interface module which,
when coupled to the expendable underwater vehicle, downloads operational
parameters into the vehicle. These parameters which are transferred from
the module to the vehicle are stored in the vehicle and are then used by
the vehicle during an in-water run.
The portable interface module typically is carried to the location of the
vehicle prior to launch of the vehicle, and the interface module is then
hooked to the vehicle to allow communication therebetween, e.g., to allow
downloading of the operational parameters from the module to the vehicle.
Once the downloading is complete, the portable interface module can be
decoupled from the vehicle, and the vehicle is then ready to be launched
into the water. Typically, the portable interface module receives and
stores the operational parameters (for later downloading to the expendable
underwater vehicle) from a "run geometry" generator. This generator
preferably is a computer which allows creation and modification of files
containing the operational parameters. After receiving and storing the
operational parameters from this computer, the portable interface module
can be decoupled therefrom and transported to the site of the vehicle for
downloading of the parameters to the vehicle in accordance with the
invention.
The field programmability feature provided by the invention makes the
expendable underwater vehicle a very flexible and useful training device.
For example, naval forces desiring to train in the open ocean but not
wanting to deviate from their ship's current course can program the
vehicle prior to its launch to follow the course of the ship. This will
allow the naval personnel aboard the ship to train without delaying the
ship's arrival at its intended destination.
The foregoing and other objects, aspects, features, and advantages of the
invention will become more apparent from the following description and
from the claims.
BRIEF DESCRIPTION OF THE DRAWINGS
In the drawings, like reference characters generally refer to the same
parts throughout the different views. Also, the drawings are not
necessarily to scale, emphasis instead generally being placed upon
illustrating the principles of the invention.
FIG. 1 is a perspective view of an expendable underwater vehicle.
FIG. 2 is an exploded perspective view of the expendable underwater vehicle
of FIG. 1, and an air launch assembly for use therewith.
FIG. 3 is a block diagram of a field programmable system in accordance with
the invention.
FIG. 4 is a block diagram of a portable interface module shown in FIG. 3.
FIG. 5 is a block diagram of the expendable underwater vehicle packaged
within a sonobuoy launch container.
DESCRIPTION
Referring to FIGS. 1 and 2, an expendable underwater vehicle 10, such as an
Expendable Mobile ASW (Anti-Submarine Warfare) Training Target (EMATT)
which is available from Sippican, Inc. of Marion, Mass., is a
battery-powered, self-propelled unit which is about three feet long, about
five inches in diameter at its thickest point, and about twenty-five
pounds in weight. The vehicle is occasionally referred to herein as a
target. The vehicle can range up to about five feet in length. In ASW
training exercises, the vehicle 10 is used to simulate a submarine, and it
performs a three-hour pattern with varying headings and depths. After
being launched into the water, the vehicle 10 turns on and "swims" when a
pressure switch 12, mounted on the hull of the vehicle 10, closes. The
pressure switch 12 closes when the negatively buoyant vehicle 10 sinks
below a specified depth, currently thirty feet. The closing of the
pressure switch 12 causes battery power to be provided to the vehicle 10.
The vehicle 10 includes a nose 24 at a front end and a shroud 26 at a rear
end. Between the nose 24 and the shroud 26 is a generally watertight
compartment which houses a DC motor 30 for driving a propeller 32, a
guidance and control subsystem for implementing a preprogrammed course for
the vehicle in the ocean by controlling the motor 30 and solenoids 34 to
cause the vehicle to follow the course, a signal processing subsystem, and
a battery pack 36 for supplying power to the signal processing subsystem,
the guidance and control subsystem, the motor 30, and the solenoids 34.
The battery pack 36 preferably includes one or more lithium batteries
(e.g., LiSO.sub.2), although in general other power sources can be used
such as one or more non-lithium batteries (e.g., Mg-AgCl Seawater). The
solenoids 34 are actuators which move elevators 38 and rudders 40 at the
command of the guidance and control subsystem.
The guidance and control subsystem includes a fluxgate compass 42, the
pressure switch 12, the solenoids 34, and electronics 44. The signal
processing subsystem simulates a submarine by generating signals
representative of the submarine and causing corresponding acoustic signals
to be transmitted into the ocean. The signal processing subsystem includes
the electronics 44, a forebody projector 46, and at least one midbody
projector 48. The forebody projector 46 is an acoustic transducer which,
under the control of the electronics 44, receives acoustic interrogations
from an external source (e.g., from a sonobuoy or some other active sonar
system) and then transmits acoustic signals representative of echoes which
the submarine would return. The forebody projector 46 thus is an active
echo receiver/repeater. The midbody projectors 48 are acoustic transducers
which, under the control of the electronics 44, generates "noise" which
simulates the sound of the running submarine. The midbody projectors 48
thus generate a passive acoustic signature of the simulated submarine.
The vehicle 10 can be launched either from a surface ship by manually
dropping it into the water or from an aircraft by using additional
hardware. In one embodiment, the additional hardware used in an air launch
includes a windflap 14, a parachute 16, a harness 18, and a nose cup
assembly 20.
The vehicle 10 can be air launched from an aircraft by loading it into and
then firing it out of a sonobuoy launch container (SLC) or from a gravity
tube on the aircraft. Prior to loading the vehicle 10 into the sonobuoy
launch container, the nose cup 20 is placed over the nose 24, and the
harness 18 is releasably secured to the cup and extends on either side of
the vehicle 10 along its length to the shroud 26. The parachute 16 is
tucked in around the shroud 26 and then the windflap 14 is put in place
such that the entire assembly fits into the sonobuoy launch container.
Once the vehicle 10 is launched out of the sonobuoy launch container and
into the air, the windflap 14 deploys the parachute 16 and, in so doing,
the windflap 14 separates from the vehicle 10 while the vehicle 10 is in
flight. The deployed parachute 16 then decelerates the vehicle 10 and
causes it to enter the water nose-first and along its longitudinal axis
28.
In the air launch configuration which uses the nose cup assembly 20, while
the vehicle 10 is in flight, a release band helps to secure the harness 18
to the cup assembly 20 while the vehicle 10 is in flight. Upon water
impact, a plunger in the face of the cup assembly 20 is depressed by the
force of the impact, and the release band is thereby released allowing the
harness 18 and the parachute 16 to disconnect from the vehicle 10. The cup
assembly 20 bears the brunt of the impact, which impact typically is
strong enough to damage the nose 24 if the nose 24 is unprotected (e.g.,
if the cup assembly 20 is not fitted over the nose 24).
Referring to FIGS. 3 and 4, a field programmable system 50 according to the
invention includes a portable interface module or box 54. The box 54 is
couplable to the expendable underwater vehicle 10 to program the vehicle
10 "in the field", i.e., at the location where the vehicle 10 actually
will be used as a training device such as on board the naval ship or in
the aircraft which will launch the vehicle 10 into the water. The box 54
downloads operational parameters into the vehicle 10 when coupled thereto,
and stores the parameters in the vehicle 10. The box 54 also can determine
the parameters currently stored within the vehicle 10. The vehicle 10 uses
the parameters during an in-water training run. The parameters can include
heading, depth, speed, tonal levels, etc. information which will determine
the vehicle's movement/operation during an in-ocean training run.
In a typical scenario, the box 54 is first coupled to a run geometry
generator 52 which downloads the desired operational parameters into the
box 54. The box 54 typically is not connected to the vehicle 10 during
this download from the generator 52. The box 54 is then decoupled from the
generator 52 and transported to the location of the vehicle 10. Once
coupled to the vehicle 10, the box 54 can download the operational
parameters, which it received from the generator 52 and stored, into the
vehicle 10. The box 54 is then decoupled from the vehicle 10, and the
vehicle 10 is ready to be used for training.
The generator 52 allows an operator to create and modify files containing
the operational parameters. This creation and/or modification typically is
performed by the operator when the box 54 is not connected to the
generator 52. The generator 52 can be located, for example, on the naval
ship or at a naval land base. The generator 52 preferably is a personal
computer or workstation (e.g., an IBM PC or compatible or an Apple
computer), and the creation and modification of parameter files is
accomplished with a specially-designed application program running on the
computer. When it is desired to download the created and/or modified
operational parameter data from the generator 52, the portable box 54 is
brought to the generator 52 and coupled to the generator 52 via a
communications link 56, preferably a serial data link.
The portable interface box 54, in a preferred embodiment, comprises a
palmtop computer 62 and a battery/charger 64 which are both housed within
the box 54. The box 54 is lightweight, about 10 pounds in a preferred
embodiment, and therefore easy for a single person to carry and operate.
Its dimensions also contribute to its portability and ease of use, and
those dimensions in a preferred embodiment are about 1 foot wide across
the front, 1 foot high from top to bottom, and 0.5 feet deep from front to
back (i.e., 0.5 cubic feet or 864 cubic inches).
In a preferred embodiment, the palmtop computer 62 of the box 54 uses the
DOS operating system, and it includes one or more processors and memory.
In place of the palmtop computer 62 in the box 54, it is possible to use
another type of computer or processor or to use dedicated electronics.
Whatever is used in the box 54, it preferably either allows the preferred
weight and size values of the box 54 (given above) to be substantially
maintained or allows the box 54 to be even smaller and/or lighter than the
preferred values. It is desirable to make the box 54 as easy as possible
to carry and operate.
When the box 54 is coupled to the vehicle 10 in order to download
parameters thereto, the box 54 typically is not also connected to the
generator 52. The box 54 typically is transported (e.g., by a Navy person)
to the location of the vehicle 10 and then coupled to the vehicle 10. The
box 54 can be brought to wherever the vehicle 10 resides including to its
location on a ship or in a aircraft from which the vehicle 10 is to be
launched. The box 54 is coupled to the vehicle 10 via a communications
link 58, preferably a serial data link. The box 54 provides serial data
translation (e.g., within the palmtop computer 62 itself or by a separate
serial electronics module 63) to allow the palmtop computer 62 to
interface with optical and/or diode couplers (not shown) within the
vehicle 10. The box 54 generally can download operational parameters to
the vehicle 10 via the link 58 and/or determine what parameters are
already stored in the vehicle 10.
The box 54 also has another connection 60 to the vehicle. This connection
60 couples the box's internal battery/charger 64 to the vehicle 10. The
battery/charger 64 preferably is a rechargeable battery. The vehicle 10
generally will require power to receive the download of operational
parameters stored in the box 54. That is, because the vehicle 10 typically
is not in operation (i.e., is not in the ocean simulating a submarine)
when the box 54 is coupled thereto, the vehicle 10 is not activated or
powered up via its own internal battery 36 (FIG. 2), and therefore it
generally cannot receive or process any data. While it is possible to
design the system 50 such that the vehicle 10 does use its own internal
battery 36, it generally is preferable to conserve that battery 36 for the
vehicle's in-ocean operations. In a preferred embodiment, the
battery/charger 64 avoids overheating the vehicle 10 by shutting off power
to the vehicle 10 after a predetermined period of time.
Referring now also to FIG. 5, the expendable underwater vehicle 10
typically is shipped from the factory packaged within a sonobuoy launch
container (SLC) 51. (As mentioned previously, an SLC can be used to air
launch the vehicle 10.) The body of the vehicle 10 preferably has a
through-hull connector 53 which is aligned with a hole 55 in the SLC 51
when the vehicle 10 is packed into the SLC 51. The through-hull connector
53 of the vehicle 10 is accessed by uncovering the hole 55 in the SLC 51
(e.g., by rolling aside or otherwise moving a rubber boot or
adhesive-backed covering which is in or over the SLC's hole). The
through-hull connector 53 of the vehicle 10 is for coupling to the data
and power lines 58, 60 of the portable interface box 54. As mentioned
previously, the vehicle preferably has optical and/or diode couplers.
These couplers are for preventing any damage to electronics in the vehicle
10 which support the power and data link 58, 60 connections to the box 54.
With the field programmable system 50 according to the invention, a user in
the field can program the vehicle 10 to perform a variety of different
functions and/or take a variety of different actions. Examples of the
types of things that the vehicle 10 can be made to do via field
programmability and the types of operational parameters that can be
downloaded into the vehicle 10 are described below.
The field programmable system 50 can be used to download run geometry
information, variable speed information, variable tonal level information,
evasive maneuver information, and/or pinger information to the vehicle 10.
As shown in FIG. 3, the vehicle 10 can include a pinger subsystem 66, a
signal processing subsystem 68, and a propulsion subsystem 70.
The guidance and control functions of the vehicle 10 can be performed by an
electronic microcomputer 74 which can be located in the electronics 44
(FIG. 2). In a preferred embodiment, a microprocessor, such as an Intel
87C51FX, performs the functions of the electronic microcomputer 74. The
course implemented by the guidance and control subsystem is programmable
via the field programmable system 50. A number of courses can be field
programmed into the vehicle 10. These courses are also referred to as "run
geometries".
With the variable speed capability, the vehicle can be field programmed
with various run geometries and speed profiles. Each course can have a
sequence of speed changes throughout the course. In the field, the run
geometries and speed profiles are downloaded to the electronic
microcomputer 74 via a serial link. The electronic microcomputer 74 stores
this information in a memory 76 such as a non-volatile EEPROM memory. In
operation, the electronic microcomputer 74 accesses the data in the memory
76 and uses it to control the vehicle's maneuvers. These maneuvers are
field programmable depth, heading, and speed changes. In a preferred
embodiment, up to twenty-two different maneuvers are associated with each
run, and up to six different runs are possible. All of this data is stored
in the memory 76. A run program selection switch 78 is provided on the
vehicle exterior, and it can be used by a field user to select one of the
six possible run geometries. In the preferred embodiment, three of the six
allow a magnetic anomaly detector (MAD) function of the vehicle to be
utilized and the other three are non-MAD. MAD refers to the vehicle's
simulation of a magnetic signature of a submarine.
Table 1 shows an example of run geometry/speed profile data for a single
run. The electronic microcomputer 74 sequentially executes each of the
twenty-two maneuvers (indicated by the twenty-two rows or "segments" in
the table) one at a time for the time specified until the cumulative exit
time (CUM TIME) conditions are met or the maximum run time (e.g., three
hours) is met.
TABLE 1
______________________________________
TIME CUM
SEG- DEPTH HEADING SPEED EXIT TIME
MENT (feet) (deg mag) (knots)
(minutes)
(minutes)
______________________________________
1 75 25 2 10 10
2 75 25 3 10 20
3 150 70 4 10 30
4 150 70 5 10 40
5 225 115 6 10 50
6 225 115 7 10 60
7 300 160 8 10 70
8 300 160 9 10 80
9 375 205 10 10 90
10 375 205 9.5 10 100
11 450 250 8.5 10 110
12 450 250 7.5 10 120
13 525 295 6.5 10 130
14 525 295 5.5 10 140
15 600 340 4.5 10 150
16 600 340 3.5 10 160
17 525 25 2.5 10 170
18 525 25 2 10 180
19 450 70 3 10 180
20 450 70 4 10 180
21 75 115 5 10 180
22 75 205 6 10 180
______________________________________
With the variable tonal levels capability, the vehicle 10 varies the output
levels (amplitudes) of the acoustic tones it projects into the ocean to
simulate a submarine. This capability allows the vehicle to be programmed
in the field with various run geometries and tonal levels (and speed
profiles if the variable speed capability is also utilized). In the field,
the tonal levels, and usually the run geometries as well as the speed
profiles, are downloaded to the microcomputer 74 via the serial link. The
microcomputer stores this information in the memory 76. In operation, the
microcomputer accesses the data in the memory 76 and uses it to control
the tonal levels (and usually the vehicle maneuvers via the run geometry
and/or speed profile data, which maneuvers preferably are
field-programmable depth, heading, and speed changes). In a preferred
embodiment, up to twenty-two different maneuvers are associated with each
run, and up to six different runs are possible. All of this data is stored
in the memory 76. The run program selection switch 78 is provided on the
vehicle exterior. In a preferred embodiment, the tonal amplitude can
change as a function of the switch 78 position.
Table 2 shows an example of run geometry and tonal level attenuation (and
speed in this case) profile data for a single run. The microcomputer
sequentially executes each of the twenty-two maneuvers (indicated by the
twenty-two rows or "segments" in the table) one at a time for the time
specified until the cumulative exit time (CUM) conditions are met or the
maximum run time (e.g., three hours) is met.
TABLE 2
______________________________________
HEAD- TONAL TIME CUM
DEPTH ING SPEED ATTN EXIT TIME
SEG (feet) (dg mag) (knots)
(dB) (mins)
(mins)
______________________________________
1 75 25 2 40 10 10
2 75 25 3 30 10 20
3 150 70 4 25 10 30
4 150 70 5 20 10 40
5 225 115 6 15 10 50
6 225 115 7 10 10 60
7 300 160 8 6 10 70
8 300 160 9 3 10 80
9 375 205 10 0 10 90
10 375 205 9.5 2 10 100
11 450 250 8.5 4 10 110
12 450 250 7.5 8 10 120
13 525 295 6.5 12 10 130
14 525 295 5.5 17 10 140
15 600 340 4.5 22 10 150
16 600 340 3.5 27 10 160
17 525 25 2.5 35 10 170
18 525 25 2 40 10 180
19 450 70 3 30 10 180
20 450 70 4 25 10 180
21 75 115 5 20 10 180
22 75 205 6 15 10 180
______________________________________
Along with the run geometries, evasive maneuver information can be
field-programmed into the vehicle. The vehicle also can be programmed in
the field with speed profiles and/or variable tonal level information. All
or any combination of this information can be downloaded in the field to
the microcomputer 74 via the serial link. The microcomputer 74 stores this
information in the memory 76, and then accesses and uses the information
during in-water operation to control the vehicle's evasive maneuvers and
other movement. These movements can include field-programmable depth,
heading, and speed changes. Also, there can be tonal level variations
throughout the course. The particular evasive maneuvers taken by the
vehicle can be dictated by the position of the run program selection
switch 78. The user can specify the particular evasive maneuvers and the
relationship between them and switch 78 position, and the desired
relationship can then be field-programmed into the vehicle by the user.
Tables 3A and 3B show an example of "run geometry/speed profile/tonal
level variations/evasive actions" data for a single run. As with Tables 1
and 2, each row ("segment") of Table 3A indicates actions which the
vehicle will take and for how long. Tables 3A and 3B provided an example
of user-specified evasive maneuver information.
TABLE 3A
__________________________________________________________________________
ABSOLUTE
SEGMENT
RELATIVE
RELATIVE
RELATIVE
ABSOLUTE
TONAL DURATION
EXIT
DEPTH HEADING
SPEED ATTN TIME TIME
SEGMENT
(feet) (dg mag)
(knots)
(dB) (mins) (mins)
__________________________________________________________________________
1 Table 3B
+45 2 40 2 +2
2 Table 3B
+45 2 40 3 +5
3 Table 3B
+45 2 40 2 +7
4 Table 3B
+45 2 40 4 +11
5 Table 3B
+45 2 40 2 +13
6 Table 3B
-45 10 0 2 +15
7 Table 3B
-45 10 0 2 +17
8 Table 3B
-45 10 0 2 +19
9 Table 3B
-45 10 0 2 +21
10 Table 3B
-45 10 0 2 +23
__________________________________________________________________________
TABLE 3B
______________________________________
DEPTH RELATIVE DEPTH
DEPTH INDEX (feet) (feet)
______________________________________
0 75 +525
1 150 +450
2 225 +375
3 300 +300
4 375 -300
5 450 -375
6 525 -450
7 600 -525
______________________________________
The microcomputer 74 can be field-programmed with the desired pinger signal
parameters via the serial link. In a preferred embodiment, the pinger
signal parameters are as shown in Table 4. Definitions of the pinger
signal parameters are provided after Table 4. The microcomputer 74 stores
these pinger parameters in the memory 76. During in-water operation, the
microcomputer 74 reads these parameters and uses them to generate the
pinger signals via the pinger subsystem 66.
TABLE 4
______________________________________
DE-
PARAMETER ALLOCATION UNITS FAULT
______________________________________
Pinger 1 bit n/a none
Enable/Disable
Pinger Type
1 bit n/a none
Repetition Rate
2 bits table index 0
Target ID 4 bits table index 0
Repetition Rate
4 bytes integral # of
n/a
Table 0.5 seconds
Pre-Ping 1 byte 1 millisecond
5
Blanking
Short Post-Ping
1 byte 1 100
Blanking
Long Post-Ping
1 byte 1 250
Blanking
Pulse Width
1 byte 1 microsecond
20
Frequency 1 byte 1 microsecond
54 or 57
Frame Pulse
1 byte integral # of
16
Repetition Rate 0.5 seconds
Number of 1 byte cycles 40
Cycles/Base
Pulse
Number of 1 byte cycles 135
Cycles/Frame
Pulse
Target ID 48 bytes n/a n/a
Messages
______________________________________
The definitions of the pinger parameters from Table 4 are as follows.
Pinger Enable/Disable--This bit controls the execution of the pinger
processes. When set, the loading of the remaining pinger parameters into
program variables is continued. If not set, the pinger process is
disabled.
Pinger Type--This bit selects either AUTEC pinger (a particular frequency
ping) or the SOCAL pinger (a different frequency ping).
Repetition Rate--These two bits are an index into the Repetition Rate Table
(2.sup.2 =four possible repetition rates).
Target ID--These four bits are an index into the Target ID Message Table
(4.sup.2 =sixteen possible target IDs).
Repetition Rate Table--This four byte table stores the four possible
repetition rates. Each repetition rate is expressed as an integral number
of 0.5 second clock ticks. The range for each repetition rate is 0.5
seconds to 128 seconds.
Pre-Ping Blanking--This byte specifies the blanking time before the first
ping pulse, and the units of this time are milliseconds with a range of 1
millisecond to 255 milliseconds.
Short Post-Ping Blanking--This byte specifies a short, post-ping blanking
time, and the units are milliseconds with a range of 1 millisecond to 255
milliseconds. This parameter is used by the AUTEC pinger process only.
Long Post-Ping Blanking--This byte specifies a long, post-ping blanking
time, and the units are milliseconds with a range of 1 millisecond to 255
milliseconds. This parameter is used by both the AUTEC and SOCAL pinger
processes.
Pulse Width--This byte specifies the pulse width of a single cycle, and the
units are microseconds with a range of 10 microseconds to 265
microseconds.
Frequency--This byte specifies the frequency of a single cycle, and it also
specifies the low time of a single cycle. This parameter, in conjunction
with the Pulse Width parameter, can be used to adjust the frequency of a
single cycle. This parameter is expressed in microseconds with a range of
10 microseconds to 265 microseconds.
Frame Pulse Repetition Rate--This byte specifies the repetition rate of the
frame pulse for the AUTEC pinger, and it is expressed as an integral
number of 0.5 second clock ticks. The number of base pulses is a function
of the Repetition Rate and the Frame Pulse Repetition Rate. The Frame
Pulse Repetition Rate (when expressed as a period) must be greater than
the Repetition Rate. The number of base pulses (NOBP) equals the quantity
Frame Pulse Repetition Rate (FPRR) divided by Repetition Rate (RR) minus
one: NOBP=(FPRR/RR)-1.
Number of Cycles per Base Pulse--This byte specifies the duration of an
AUTEC pinger base (standard) pulse, and it is expressed as the number of
cycles for a base (standard) pulse.
Number of Cycles per Frame Pulse--This byte specifies the duration of an
AUTEC pinger frame pulse, and it is expressed as the number of cycles for
a frame pulse.
Target ID Messages--This 48 byte linear array contains sixteen possible
target ID messages. Only twelve of the sixteen messages are defined for
the SOCAL pinger. The other four array elements are allocated for future
expansion.
While FIG. 3 generally does not show connections to a power source for each
of the components requiring power to operate, it should be understood that
each such component is in fact connected to a source of power. For each
component requiring power to operate, the battery 36 generally provides
the necessary power thereto.
Variations, modifications, and other implementations of what is described
herein will occur to those of ordinary skill in the art without departing
from the spirit and the scope of the invention as claimed. Accordingly,
the invention is to be defined not by the preceding illustrative
description but instead by the following claims.
Top